# Correct-by-Construction Approach for Self-Evolvable Robots

## TL;DR

This paper introduces a formal, correct-by-construction approach for designing self-evolvable robots that can reconfigure both structurally and functionally to adapt to diverse tasks and environments.

## Contribution

It presents formal models and a design strategy enabling the creation of reconfigurable robots with guaranteed task performance.

## Key findings

- Formal models for structural and functional reconfiguration
- A correct-by-construction design method
- Demonstration with a planar multi-link manipulator

## Abstract

The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have the potential to be more flexible to be used in a wider range of tasks, in a wider range of environments, and with a wider range of users. To accommodate such a concept, i.e., allowing a self-evovable robot to be configured and reconfigured, we present a series of formal constructs, e.g., structural reconfigurable grammar and functional reconfigurable grammar. Furthermore, we present a correct-by-construction strategy, which, given the description of a workspace, the formula specifying a task, and a set of available modules, is capable of constructing during the design phase a robot that is guaranteed to perform the task satisfactorily. We use a planar multi-link manipulator as an example throughout the paper to demonstrate the proposed modeling and designing procedures.